Sensitivity of Mass Geometry Parameters on E-Scooter Comfort: Design Guide.

E-scooter vibrations are a problem recently studied. Theoretical models based on dynamic simulations and also real measurements have confirmed the high impact of e-scooter vibrations on driver comfort and health. Some authors recommend improving e-scooter damping systems, including tyres. However, it has not been suggested nor has any research been published studying how to improve e-scooter frame design for reducing driver vibrations and improving comfort. In this paper, we have modelled a real e-scooter to have a reference. Then, we have developed a multibody dynamic model for running dynamic simulations studying the influence of mass geometry parameters of the e-scooter frame (mass, centre of gravity and inertia moment). Acceleration results have been analysed based on the UNE-2631 standard for obtaining comfort values. Based on results, a qualitative e-scooter frame design guide for mitigating vibrations and increasing the comfort of e-scooter driver has been developed. Some application cases have been running on the multibody dynamic simulation model, finding improvements of comfort levels higher than 9% in comparison with the e-scooter reference model. The dynamic model has been qualitatively validated from real measurements. In addition, a basic sensor proposal and comfort colour scale is proposed for giving feedback to e-scooter drivers.

Improvement of Dynamic Characteristics of Purpose-Built Vehicles Using Semi-Active Suspension System.

The diversification of mobility into services such as smart stores and conference rooms has accelerated the development of purpose-built vehicles (PBVs)-vehicles designed for specific purposes that utilize an extended electric vehicle chassis and autonomous driving technology. Despite the standards on speed bump dimensions stipulated by the National Land Transportation Act of the Republic of Korea, real-world speed bumps feature varying widths and heights that deviate from these standards. In this study, a velocity equation was derived via regression analysis to achieve the desired dynamic characteristics for a PBV passing over speed bumps with varying shapes through two types of semi-active suspension control: proportional-integral-differential (PID) and linear-quadratic-regulator (LQR). For a cargo-transport PBV, the PID and LQR controllers increased the velocity by 23.74% and 50.74%, respectively, under different speed bump widths and by 19.44% and 38.31%, respectively, under different speed bump heights. Moreover, an analysis of the vibration dose value (VDV), an indicator of ride comfort, revealed that the VDVs calculated using the velocity equation were within an acceptable error range of 10% above the target VDV. These findings provide insights into the speed control required for different types of autonomous PBVs to ensure ride comfort, as well as minimize the driving duration, depending on the specific purpose of the vehicle.

Difference thresholds for primary and secondary ride of a vehicle on a 4-poster test rig.

Not only is it important to know how large the overall change in vibration should be for occupants to perceive an improvement in comfort, but also how large this change should be in specific frequency bands. Relative difference thresholds (RDT) of primary (0.5-4 Hz) and secondary (9-80 Hz) ride are estimated for 14 automotive engineers seated in a vehicle on a 4-poster test rig over two roads. Resulting stimuli differed in magnitude and spectral shape. The median RDTs estimated for primary and secondary ride were 16.68% and 13.82% on the smooth road, and 9.50% and 24.67% over the rough road. Statistically significant differences were found in the medians of the RDTs between (1) primary and secondary ride on the two roads and (2) the two roads for changes in the primary and secondary ride, suggesting that Weber's law does not hold.

Relative difference thresholds of primary and secondary ride are estimated that can be used to evaluate whether modifications to vehicle characteristics result in perceivable changes of vehicle vibration. Results suggest that Weber's law does not hold implying that relative difference thresholds should be used that closely match the stimuli characteristics.

Methods of Passenger Ride Comfort Evaluation-Tests for Metro Cars.

Ride comfort is one of the key issues in passenger transport. Its level depends on many factors related to both environmental factors and individual human characteristics. Ensuring good travel conditions translates into higher quality transport services. This article presents a literature review, which shows that ride comfort is most often considered in the context of the impact of mechanical vibrations on the human body, while other factors are usually neglected. The aim of this study was to conduct experimental studies that take into account more than one type of ride comfort. These studies concerned metro cars in the Warsaw metro system. Three types of comfort were evaluated: vibrational, thermal, and visual, based on vibration acceleration measurements, air temperature, relative air humidity, and illuminance. The ride comfort in the vehicle bodies' front, middle, and rear parts was tested under typical running conditions. The criteria for assessing the effect of individual physical factors on ride comfort were selected based on applicable European and international standards. The test results indicate good thermal and light environment conditions in every measuring point. The slight decrease in passenger comfort is undoubtedly due to the effects of vibrations occurring while mid journey. In tested metro cars, horizontal components have a more significant impact on reducing vibration comfort than other components.

A state-of-the-art review on biomechanical models and biodynamic responses.

Biomechanical models are mathematical representations of human structure. These models are used to analyse joint and injury mechanics and design of prosthetic devices for human body under various conditions. Biomechanical model development involves the integration of knowledge from various fields, including mechanics, biology, physiology, and mathematics. Biomechanical models have become more significant in the healthcare sector as researchers strive to offer better medical supplies and ride comfort. It has uses in automobile and sports science as well, to create human dummies for accident and segmental vibration transmissibility study, improve training routines, and prevent injuries. These biomechanical models might be anything from straightforward lumped parameter models to intricate multi-body models. The virtues, weaknesses, and contemporary uses of lumped parameter modelling and multi body modelling in biomechanical modelling are discussed in this article. Subsequently, emphasised the recent modelling improvements and explored the future direction of biomechanical modelling. Researchers and professionals who wish to apply biomechanical models to comprehend human movement and enhance performance may find this review to be helpful.

Our understanding of how the human body functions, moves, and responds to various situations has greatly improved as a result of the current review. The models play a critical role in the simulation and quantification of interactions between anatomical structures, tissues, and external forces, providing essential information on mobility, function, and damage mechanisms.

Development of a GIS-Based Methodology for the Management of Stone Pavements Using Low-Cost Sensors.

Stone pavements are present in many cities and their historical and cultural importance is well recognized. However, there are no standard monitoring methods for this type of pavement that allow road managers to define appropriate maintenance strategies. In this study, a novel method is proposed in order to monitor the road surface conditions of stone pavements in a quick and easy way. Field tests were carried out in an Italian historic center using accelerometer sensors mounted on both a car and a bicycle. A post-processing phase of that data defined the comfort perception of the road users in terms of the awz index, as described in the ISO 2631 standard. The results derived from the dynamic surveys were also compared with the corresponding values of typical pavement indicators such as the International Roughness Index (IRI) and the Pavement Condition Index (PCI), measured only on a limited portion of the urban road network. The network's implementation in a Geographic Information System (GIS) represents the surveys' results in a graphical database. The specifications of the adopted method require that the network is divided into homogeneous sections, useful for measurement campaign planning, and adopted for the GIS' outputs representation. The comparisons between IRI-awz (R2 = 0.74) and PCI-awz (R2 = 0.96) confirmed that the proposed method can be used reliably to assess the stone pavement conditions on the whole urban road network.

Evaluation of Ride Comfort in a Railway Passenger Car Depending on a Change of Suspension Parameters.

Ride comfort for passengers remains a pressing topic. The level of comfort in a vehicle can influences passengers' preferences for a particular means of transport. The article aims to evaluate the influence of changes in suspension parameters on the ride comfort for passengers. The theoretical background includes a description of the applied method for a creating the virtual model of an investigated vehicle as well as the method of evaluating the ride comfort. The ride comfort of the vehicle is assessed based on the standard method, which involves calculating the mean comfort method, i.e., ride comfort index NMV in chosen points on a body floor. The NMV ride comfort index (Mean Comfort Standard Method) requires the input of acceleration signals in three directions. The rest of the article offers the results of simulation computations. The stiffness-damping parameters of the primary and secondary suspension systems were changed at three levels and the vehicle was run on the real track section. The ride index NMV was calculated for all three modifications of the suspension system in the chosen fifteen points of the body floor. It was found that lower values in the stiffness of the secondary suspension system lead to lower levels of ride comfort in the investigated railway passenger car; however, lower values in the stiffness-damping parameters of the primary suspension system did not decrease the levels of ride comfort as significantly.

Validation of a Low-Cost Pavement Monitoring Inertial-Based System for Urban Road Networks.

Road networks are monitored to evaluate their decay level and the performances regarding ride comfort, vehicle rolling noise, fuel consumption, etc. In this study, a novel inertial sensor-based system is proposed using a low-cost inertial measurement unit (IMU) and a global positioning system (GPS) module, which are connected to a Raspberry Pi Zero W board and embedded inside a vehicle to indirectly monitor the road condition. To assess the level of pavement decay, the comfort index awz defined by the ISO 2631 standard was used. Considering 21 km of roads with different levels of pavement decay, validation measurements were performed using the novel sensor, a high performance inertial based navigation sensor, and a road surface profiler. Therefore, comparisons between awz determined with accelerations measured on the two different inertial sensors are made; in addition, also correlations between awz, and typical pavement indicators such as international roughness index, and ride number were also performed. The results showed very good correlations between the awz values calculated with the two inertial devices (R2 = 0.98). In addition, the correlations between awz values and the typical pavement indices showed promising results (R2 = 0.83-0.90). The proposed sensor may be assumed as a reliable and easy-to-install method to assess the pavement conditions in urban road networks, since the use of traditional systems is difficult and/or expensive.

Cardiovascular response to whole-body vibration on an automobile seat.

The study aim was to determine whether a relationship exists between the cardiovascular response, measured by HR and HRV and the magnitude of whole-body vibration. Cardiovascular response of sixty male participants in four groups, was measured during three states i.e. (1) no vibration, (2) a reference vibration and (3) an alternative vibration. The reference vibration was the same for all groups with the alternative vibrations different for each group. Weighted vertical seat vibration was 0.66 m.s-2, root-mean-square for the reference and 0.70, 0.73, 0.76, and 0.79 m.s-2, root-mean-square for the alternative vibrations. Vibrations only differed in magnitude with the difference between alternative vibrations based on relative difference thresholds. Nonparametric tests compared cardiovascular indicators between groups at State 3 adjusted for state of departure i.e. State 2. No significant differences between groups were found for most of the indicators, suggesting no relationship between cardiovascular response and the magnitude of whole-body vibration. Practitioner summary: The cardiovascular response to the magnitude of whole-body vibration on an automobile seat was investigated. Results suggest that no relationship exists between the magnitude and cardiovascular response and that the latter may not be as effective as other objective measures (e.g. acceleration) in evaluating the human's response to whole-body vibration.

Design of a Human Evaluator Model for the Ride Comfort of Vehicle on a Speed Bump Using a Neural Artistic Style Extraction.

The subjective evaluation of vehicle ride comfort is costly and time-consuming but is crucial for vehicle development. To reduce the cost and time, the objectification of subjective evaluation has been widely studied, and most of the approaches use a regression model between objective metrics and subjective ratings. However, the accuracy of these approaches is highly dependent on the selection of the objective metrics. In most of the methods, it is not clear that the selected metrics are sufficiently significant or whether all significant metrics are included in the selection. This paper presents a method to build a correlation model between measurements and subjective evaluations without using predefined features or objective metrics. A numerical representation of ride comfort was extracted from raw signals based on the idea of the artistic style transfer method. The correlation model was designed based on the extracted numerical representation and subjective ratings. The model has a much better accuracy than any other correlation models in the literature. This better accuracy is contributed to not only by using a neural network, but also by the extraction of the numerical representation of ride comfort using a pre-trained neural network.

Toward a More Complete, Flexible, and Safer Speed Planning for Autonomous Driving via Convex Optimization.

In this paper, we present a complete, flexible and safe convex-optimization-based method to solve speed planning problems over a fixed path for autonomous driving in both static and dynamic environments. Our contributions are five fold. First, we summarize the most common constraints raised in various autonomous driving scenarios as the requirements for speed planner developments and metrics to measure the capacity of existing speed planners roughly for autonomous driving. Second, we introduce a more general, flexible and complete speed planning mathematical model including all the summarized constraints compared to the state-of-the-art speed planners, which addresses limitations of existing methods and is able to provide smooth, safety-guaranteed, dynamic-feasible, and time-efficient speed profiles. Third, we emphasize comfort while guaranteeing fundamental motion safety without sacrificing the mobility of cars by treating the comfort box constraint as a semi-hard constraint in optimization via slack variables and penalty functions, which distinguishes our method from existing ones. Fourth, we demonstrate that our problem preserves convexity with the added constraints, thus global optimality of solutions is guaranteed. Fifth, we showcase how our formulation can be used in various autonomous driving scenarios by providing several challenging case studies in both static and dynamic environments. A range of numerical experiments and challenging realistic speed planning case studies have depicted that the proposed method outperforms existing speed planners for autonomous driving in terms of constraint type covered, optimality, safety, mobility and flexibility.

Response of the seated human body to whole-body vertical vibration: discomfort caused by mechanical shocks.

The frequency dependence of discomfort caused by vertical mechanical shocks has been investigated with 20 seated males exposed to upward and downward shocks at 13 fundamental frequencies (1-16 Hz) and 18 magnitudes (±0.12 to ±8.3 ms-2). The rate of growth of discomfort with increasing shock magnitude depended on the fundamental frequency of the shocks, so the frequency dependence of equivalent comfort contours (for both vertical acceleration and vertical force measured at the seat) varied with shock magnitude. The rate of growth of discomfort was similar for acceleration and force, upward and downward shocks, and lower and higher magnitude shocks. The frequency dependence of discomfort from shocks differs from that of sinusoidal vibrations having the same fundamental frequencies. This arises in part from the frequency content of the shock. Frequency weighting Wb in BS 6841:1987 and ISO 2631-1:1997 provided reasonable estimates of the discomfort caused by the shocks investigated in this study. Practitioner Summary: No single frequency weighting can accurately predict the discomfort caused by mechanical shocks over wide ranges of shock magnitude, but vibration dose values with frequency weighting Wb provide reasonable estimates of discomfort caused by shocks similar to those investigated in this study with peak accelerations well below 1 g.

Evaluation of seatback vibration based on ISO 2631-1 (1997) standard method: The influence of vehicle seat structural resonance.

Although much research has been done in developing the current ISO 2631-1 (1997) standard method for assessment seat vibration comfort, little consideration has been given to the influence of vehicle seat structural dynamics on comfort assessment. Previous research has shown that there are inconsistencies between standard methods and subjective evaluation of comfort at around vehicle seat twisting resonant frequencies. This study reports the frequency-weighted r.m.s. accelerations in [Formula: see text], [Formula: see text] and [Formula: see text] axes and the total vibration (point vibration total value) at five locations on seatback surface at around vehicle seat twisting resonant frequencies. The results show that the vibration measured at the centre of seatback surface, suggested by current ISO 2631-1 (1997), at around twisting resonant frequencies was the least for all tested vehicle seats. The greatest point vibration total value on the seatback surface varies among vehicle seats. The variations in vibration measured at different locations on seatback surface at around twisting resonant frequencies were sufficiently great that might affect the comfort assessment of vehicle seat.Practitioner Summary: The influence of vehicle seat structural dynamics has not been considered in current ISO 2631-1 (1997). The results of this study show that the vibration measures on seatback surface at around vehicle seat twisting resonant frequency depends on vehicle seats and dominate at the top or the bottom of seatback but not at the centre.

Response of the seated human body to whole-body vertical vibration: discomfort caused by sinusoidal vibration.

Frequency weightings for predicting vibration discomfort assume the same frequency-dependence at all magnitudes of vibration, whereas biodynamic studies show that the frequency-dependence of the human body depends on the magnitude of vibration. This study investigated how the frequency-dependence of vibration discomfort depends on the acceleration and the force at the subject-seat interface. Using magnitude estimation, 20 males and 20 females judged their discomfort caused by sinusoidal vertical acceleration at 13 frequencies (1-16 Hz) at magnitudes from 0.1 to 4.0 ms(-2) r.m.s. The frequency-dependence of their equivalent comfort contours depended on the magnitude of vibration, but was less dependent on the magnitude of dynamic force than the magnitude of acceleration, consistent with the biodynamic non-linearity of the body causing some of the magnitude-dependence of equivalent comfort contours. There were significant associations between the biodynamic responses and subjective responses at all frequencies in the range 1-16 Hz. Practitioner Summary: Vertical seat vibration causes discomfort in many forms of transport. This study provides the frequency-dependence of vibration discomfort over a range of vibration magnitudes and shows how the frequency weightings in the current standards can be improved.

Effects of seat structural dynamics on current ride comfort criteria.

The ISO 2631-1 ( 1997 ) provides methodologies for assessment of the seated human body comfort in response to vibrations. The standard covers various conditions such as frequency content, direction and location of the transmission of the vibration to the human body. However, the effects of seat structural dynamics mode shapes and corresponding resonances have not been discussed. This study provides important knowledge about the effects of vehicle seat structural vibration modes on discomfort assessment. The occupied seat resonant frequencies and corresponding vibration modes were measured and comfort test was carried out based on the paired comparison test method. The results show that the ISO 2631-1 ( 1997 ) method significantly underestimates the vibration discomfort level around the occupied seat twisting resonant frequencies. This underestimation is mainly due to the ISO suggested location of the accelerometer pad on the seatback. The centre of the seatback is a nodal point at the seat twisting mode. Therefore, it underestimates the total vibration transferred to the occupant body from the seatback. PRACTITIONER SUMMARY: The effects of the vehicle seat structural dynamics have not been discussed in the human body vibration ISO . The results of this research show that the current measurement method suggested by ISO 2631-1 (1997) can significantly underestimate the vibration discomfort level at around the seat structural vibration mode.

Research on ride comfort optimization of the vehicle considering the subframe.

When the vehicle is in motion, the elastic deformation of the flexible subframe significantly influences ride comfort. Therefore, it is crucial to investigate the impact of flexible subframes on vehicle ride comfort. In order to enhance the reliability and optimization efficiency of our research, this paper incorporates the concept of elastic deformation in the flexible subframe into the investigation of vehicle ride comfort, and proposes a multi-objective optimization approach to enhance the overall vehicle ride comfort. The vibration mathematical model elucidates how flexible subframes affect vehicle ride comfort and establishes a rigid-flexible coupling model for a specific vehicle with a flexible subframe to analyze the impact of its elastic deformation on vehicle ride comfort through simulation experiments. Subsequently, a radial basis function approximation model is established, and the multi-objective particle swarm optimization and non-dominated sorting genetic algorithm II algorithms are employed to conduct multi-objective optimization of the stiffness of the subframe bushing with the aim of enhancing vehicle ride comfort. The findings indicate that the flexible subframe has a significant impact on vehicle ride comfort. Specifically, on bump roads, peak values of vertical and longitudinal seat accelerations decrease while lateral seat acceleration increases. On random roads, peak values of longitudinal and lateral seat accelerations increase while vertical acceleration decreases. Furthermore, the stiffness of the subframe bushing optimized by the non-dominated sorting genetic algorithm II algorithm further enhances vehicle ride comfort and aligns more closely with the optimization requirements in this study.

Safe, Efficient, and Comfortable Autonomous Driving Based on Cooperative Vehicle Infrastructure System.

Traffic crashes, heavy congestion, and discomfort often occur on rough pavements due to human drivers' imperfect decision-making for vehicle control. Autonomous vehicles (AVs) will flood onto urban roads to replace human drivers and improve driving performance in the near future. With the development of the cooperative vehicle infrastructure system (CVIS), multi-source road and traffic information can be collected by onboard or roadside sensors and integrated into a cloud. The information is updated and used for decision-making in real-time. This study proposes an intelligent speed control approach for AVs in CVISs using deep reinforcement learning (DRL) to improve safety, efficiency, and ride comfort. First, the irregular and fluctuating road profiles of rough pavements are represented by maximum comfortable speeds on segments via vertical comfort evaluation. A DRL-based speed control model is then designed to learn safe, efficient, and comfortable car-following behavior based on road and traffic information. Specifically, the model is trained and tested in a stochastic environment using data sampled from 1341 car-following events collected in California and 110 rough pavements detected in Shanghai. The experimental results show that the DRL-based speed control model can improve computational efficiency, driving efficiency, longitudinal comfort, and vertical comfort in cars by 93.47%, 26.99%, 58.33%, and 6.05%, respectively, compared to a model predictive control-based adaptive cruise control. The results indicate that the proposed intelligent speed control approach for AVs is effective on rough pavements and has excellent potential for practical application.

Layered energy-saving speed planning and control method for electric vehicle on continuous signal lights road.

Emergency start-stop in front of signal lights is one of the main reasons for additional energy consumption and ride discomfort of Electric Vehicle (EV). Existing research on this issue rarely takes into account both energy consumption and ride comfort. Therefore, the layered energy-saving speed planning and control method is proposed. The upper is the layer of energy-saving speed planning. This layer reduces energy consumption of EV by reducing the number of stops on continuous signal lights road and minimizing the range of speed change. On this basis, the sinusoidal variable speed curve is used to smooth the acceleration process to improve ride comfort. Finally, the energy-saving speed considering ride comfort is obtained. This layer makes up for the issue that existing research rarely takes into account both energy consumption and ride comfort of EV, and is an extension and innovation of existing research. The lower is the layer of Model Predictive Controller (MPC)-based speed control. Based on the longitudinal dynamics model of EV, the MPC-based speed controller is established to control EV to track the energy-saving speed. The controller is easy to understand and implement, and it is also suitable for other research on EV, which has certain application value. The simulation results show that under various working conditions, the maximum energy consumption of EV passing through continuous signal lights road without stopping is 604.29 kJ/km, and the minimum is 244.76 kJ/km. The energy consumption is lower than that of actual road test, and it can be saved by 23.18 % compared with the method in the same field. The maximum Root Mean Square of accelerations (RMSa) is 0.25 m/s2, and the minimum is 0.10 m/s2. The values of RMSa above are lower than 0.315 m/s2, which indicates that the ride comfort is good. The utilized method can reduce energy consumption of EV, improve its range and ride comfort, which has important reference significance for promoting the development of EV.

Optimal selection for an air suspension system on buses through a unique high level parameter in genetic algorithms.

Air suspension systems are being widely used on ground vehicles in general and buses in particular. The element that makes the superiority of this system is air spring. This paper introduces the application of genetic algorithms method to optimize the parameters of the air spring element. A full model of a bus using air suspension system with air spring element, which is modeled based on the Gensys model. From the real experiments, the bounds of seven optimized parameters of the air spring are determined. In which, by using a single α value, it is possible to determine the optimal parameters according to each desired criteria between the road safety and the ride comfort. Optimal results are verified in the time domain simulations with random road profile according to the ISO standard 8608. The results show that by using the optimal parameters of the air spring when α = 0.5, the ride comfort is improved about 15% while the road safety is still guaranteed.

Difference thresholds for a vehicle on a 4-poster test rig.

Improving vibration-induced discomfort often requires a reduction in the vibration experienced by vehicle occupants. Simulation software and test equipment are able to measure changes in vibration that are too small for humans to perceive. It is therefore important to know how large the change in vibration should be, i.e. the difference threshold, for occupants to perceive an improvement in comfort. This study estimates difference thresholds for ten automotive engineers seated in a vehicle on a 4-poster test rig. Participants were exposed to multi-axis vibration. Component ride values were calculated by applying BS 6841 frequency weightings and multiplication factors to seat accelerations in the six directions. Difference thresholds were estimated for two road profiles using the vertical component ride value and combined point ride value (i.e. the root-sums-of-squares of the six component ride values). The two road profiles had different magnitudes, but the same spectral shape, resulting in median vertical component ride values of 0.58 and 1.01 m.s.-2, root-mean-square. An up-down transformed response rule was used with a three-down-one-up response grouping to estimate difference thresholds at a 79.4% probability level. The median relative difference threshold for the two roads was 10.13% and 8.58% considering the vertical component ride value, and 10.99% and 9.24% considering the combined point ride value. No statistically significant difference was found between the medians of the relative difference threshold over the two roads considering either of the two ride values (p-value = 0.995 in both instances), suggesting that Weber's law holds.